自抗扰控制器在高阶系统中应用的仿真

将自抗扰控制器 (ADRC)推广到高阶系统的控制中。以理论分析为基础 ,将其基础部件——跟踪微分器 TD和扩张状态观测器 ESO的设计予以简化和改进。针对一类高阶非线性对象 ,在实例仿真的基础上总结了 ADRC的设计要点和经验整定规则。进行了几个典型实例仿真 ,并与PID和逆系统方法对比。仿真结果表明 ,ADRC对这一类高阶非线性对象具有良好的控制性能 ,对其外扰和模型的不确定因素具有较好的适应性和鲁棒性 ,从而证实了对 ADRC简化和改进的有效性。 ADRC可应用于高阶系统的控制

Simulation study of auto-disturbance rejection controller for high order systems

The tracking differentiator (TD) and extended state observer (ESO), essential parts of an auto disturbance rejection controller (ADRC) to control high order systems, are simplified and improved using theoretical analysis. Design requirements and empirical rules were developed using a large number of simulations performed on a class of higher order non linear objects. Several control systems and simulation results are also given, one of which is compared with PID and inverted system approaches. The results show that ADRC can effectively control this class of high order systems and is robust against their modeling uncertainties and measurement noises. The simulation results substantiate the effectiveness of the modified ADRC and the promising future of ADRC for the control of high order systems.